Implemented speed for the PMAC controller

sinqEPICSApp/src/pmacAxis.cpp

@@ -219,6 +219,11 @@ asynStatus pmacAxis::move(double position, int relative, double min_velocity,
   status6Time = 0;
   starting = 1;
 
+  /* set speed first */
+  sprintf(command, "Q%d04=%f", axisNo_, max_velocity);
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+
+  /* send drive command */
   sprintf(command, "P%2.2d23=0 Q%2.2d01=%12.4f M%2.2d=1", axisNo_, axisNo_,
           realPosition, axisNo_);
 

utils/syncPmacSub.py

@@ -62,6 +62,9 @@ def fix_line(par_list, index_list):
     highlim = transact('Q%d13' % motNo)
     highidx = index_list.index('DHLM')
     par_list[highidx] = highlim.strip()
+    speed = transact('Q%d03' % motNo)
+    speedidx = index_list['VELO']
+    par_list[speedidx] = speed.trim()
     return par_list
 
 def scan_substitution_file(filename):